JPH0272901A - Dado joint router - Google Patents

Abstract

PURPOSE:To contrive simplification of operation by enabling precise processing of a groove without depending on an experience of a worker, by a method wherein movements in axial directions X, Y, Z of respective straight and dovetail groove bits by a motor are performed through numerical control. CONSTITUTION:The title router possesses a moving mechanism 40 moving a router main body 60 in a horizontal direction 2 on a base frame 10 and a clamping mechanism 20 for fixing the base frame 10 to a work W. A moving body 42 of a direction Y is moved in an axial direction y and the router main body 60 moves in the direction X to the moving body 42 of the direction Y, in the moving mechanism 40. A motor 61 turning a straight and dovetail groove bits 82, 84 is incorporated into the router main body 60. A microcomputor 90 applies data to driver 95 and the driver 95 supplies this signal to the motor by converting the same into driving electric power of the motor by amplifying the same. An X-axis motor 58, Y-axis motor 50 and Z-axis motor 80 are controlled with this constitution. ON/OFF of the motor 61 are controlled with the microcomputor 90.

Description

[Detailed description of the invention] (Industrial application field) This invention relates to a large-capacity router.

(Prior art) This type of large-input router is equipped with a straight bit for machining flat grooves and a dovetail bit for forming a dovetail groove in the flat groove formed by the straight bit. Movement of the bit in the mutually orthogonal X, Y, and Z axes with respect to the workpiece is
Regarding the force direction, for example, the main body of the large-input router can be moved by manually operating a handle using a mechanism such as a rack and pinion against a frame fixed to the workpiece, and it can also be moved in the Z-axis direction (vertical direction). Each bit was moved up and down relative to the router body by manually operating the handle.

An example of a publication showing such a prior art is the one described in Utility Model No. 61-27686 filed by the same applicant as the present application.

(Problem to be Solved by the Invention) However, in the conventional large-input router described above, the movement of the straight bit and dovetail bit in the X, Y, and Z axis directions is performed by the operator by operating the handle. Machining accuracy depends on the skill of the operator, and only experienced workers could perform accurate machining. In addition, processing using a conventional human engraving router involves first inking and then following the inked lines.
If the inking dimensions are inaccurate, the precision of the dimensions of the flat groove or dovetail groove after processing also deteriorates.

(Means for Solving the Problems) In order to solve the problems of the prior art described in , the large-input router of the present invention includes a motor for moving a straight bit and a dovetail bit in X, Y, and Z axes directions orthogonal to each other. , and a computer for numerically controlling the movement of the straight bit and the slotted bit in [1a] in the X, Y, and Z axis directions.

(Function) In the large-input router of the present invention, the straight bit and dovetail bit are moved in the X, Y, and Z axis directions by a motor.

Since the amount of movement in the Z-axis direction is numerically controlled by the knobs, by inputting the necessary data on the dimensions of the flat groove and dovetail groove into a computer, the flat groove of the desired size and shape can be created. and dovetail groove processing.

(Example) An example of the present invention will be described in detail with reference to the drawings.

First, in order to understand the overall configuration of this embodiment,
A conventional large-capacity router developed by the present applicant will be explained. This large-capacity router is described in detail in Japanese Utility Model Publication No. 61-27686.

Figure MS29 is a perspective view showing a conventional manually controlled electric hand-held router and the shape processed by the large-sized router. This large-input router forms a flat groove A on a workpiece W, and further forms a dovetail groove B to perform large-input dovetail processing. The large-capacity router main body 1 is mounted horizontally in two directions (hereinafter X, Y7+) with respect to a stand (not shown).
It is installed so that it can be moved manually.
The workpiece W is fixed to a stand and processed. The flat groove is machined using the straight bit 2, and with the straight bit 2 lowered to a predetermined height using the lever 3, the large-input router main body 1 is manually moved in two directions horizontally with respect to the workpiece W. By moving the straight bit 2, the flat groove A is machined by the straight bit 2. Next, the dovetail groove B is machined using the dovetail groove bit 4, and with the dovetail bit 4 lowered to a predetermined height using the lever 5, the large-input router main body 1 is moved in two horizontal directions ( The dovetail groove B is machined by the dovetail groove bit 4 by appropriately moving the dovetail groove manually mainly in the longitudinal direction of the dovetail groove (hereinafter referred to as the Y direction)).

In addition, the straight bit 2 and dovetail bit 4 are belt 6.
It is rotated by Tanabata 7 through . Both the straight bit 2 and the dovetail bit 4 are assembled to the main body 1 in such a structure that they can be independently moved upward and rotated by the rotational force from the belt 6.

The above overall configuration is almost the same in this embodiment. In the case of this embodiment, as will be clear from what will be described later, the large-input router main body 1 can be moved in two horizontal directions and the bits 2 and 4 can be moved.
The vertical movement of the machine has been improved so that it is fully automated and operated by numerical control.

Next, this embodiment will be explained in detail with reference to FIGS. 1 to 28.

[Regarding mechanical structure 1] Fig. 1 is a plan view showing the mechanical structure of this embodiment, and Fig. 2 is a side view.

The entire device includes a base frame 10, a router body 60, and a moving mechanism 4 that moves the router body 60 in two horizontal directions above the base frame 10.
0, a clamp mechanism 20 for fixing the base frame 10 to the workpiece W, and a control system for the apparatus.

The base frame 10 includes an X rear frame 12 and an X front frame 1.
4. The Y left frame 16 and the Y right frame 18 form a substantially rectangular frame shape.

A clamp la 1m 20 is provided at the bottom of the base frame 10. The clamp mechanism 20 includes a vice lever 24 rotatably attached to the X rear frame 12 via a pin 22, and is rotatably connected to the vice lever 24 by a pin 26, and is moved forward and backward by rotation of the vice lever 24. a vibrator 28 and a plate 30 fixed to the tip of the pipe 28.
, a screw portion 32 that penetrates through the plate 30 and is screwed into the screw portion;
It is formed by a vise 34 that moves forward and backward by moving forward and backward.

By placing a nook W between the X front frame 14 and the vise 34 and advancing the vise 34 toward the X front frame 14 by operating the vise lever 24 or the threaded portion 32, the workpiece W and the entire apparatus are can be firmly fixed. In addition, the tarpaulin mechanism 20 was constructed in 1986.
1-42777 discloses a structure very similar to that of the present invention, detailed description thereof will be omitted.

Next, the moving mechanism 40 for moving the router main body in two horizontal directions with respect to the base frame 10 will be explained. The movement mechanism 40 is a normal XY two-axis movement mechanism, in which the Y direction moving body 42
The router main body 60 moves in the axis direction (vertical direction in Figure 1).
The structure is such that it moves in the X direction (horizontal direction in FIG. 1) with respect to the Y direction moving body 42.

First, a gate structure for moving the Y-direction moving body 42 in the Y-direction will be explained. The Y-direction moving body 42 is configured such that a left frame 43, a right frame 46, an X rear vibe 44, and an X front vibe 45 form a substantially rectangular frame. A pair of left and right Y vibes 47 and 48 are fixed to the base frame 10 in parallel with the left and right pair of Y frames 16 and 18,
A left frame 43 and a right frame 46 of the Y-direction moving body 42 are slidably assembled to the Y-vibrator 4.7.48. Rack teeth are formed on the upper edges of the Y left frame 16 and the Y right frame 18 of the base frame 10.

A Y-axis motor 50 is fixed to the Y-direction moving body 42, and a pair of gears 52 and 54 are attached to the Y-direction moving body 42 so as to be able to rotate simultaneously around a shaft 56. Gears 52 and 54 can mesh with the rack teeth and are rotated by the Y-axis motor 50 via a gear train.

With the above structure, the Y-direction moving body 42 moves forward and backward in the Y direction with respect to the base frame 10 by normal or reverse rotation of the Y-axis motor 50.

Note that the X front frame 14 is provided with a Y-axis stop switch 102, which detects whether the Y-direction moving body 42 is at the position closest to the front side (origin position).

Next, a mechanism for moving the router main body 60 in the X direction on the Y direction moving body 42 will be explained.

The router main body 60 has two through holes, and the Y direction moving body 4
2's X rear vibe 44 and
and an X front vibrator 45 as a guide so as to be slidable in the X direction.

An X-axis motor 58 is fixed to the Y-direction moving body 42, and a screw 59 is rotatably coupled to the motor 58 via a gear train. The screw 59 passes through the router body 60 and is threadedly engaged with the side wall of the router body 60.

With the above structure, the router main body 60 moves forward and backward in the X direction on the Y direction moving body 42 by the normal or reverse rotation of the X axis motor 58.

Note that the Y-direction moving body 42 is equipped with an X-axis mitt switch 10.
3 is fixed, and it is possible to detect whether or not the router main body 60 is at the center position (origin position) in the X direction.

Next, the structure of the router main body 60 will be explained. Router body 60
A dryer 61 for rotating a straight bit 82 and a dovetail bit 84 is incorporated therein. The rotation of the L-mount 61 is transmitted via the belt 62 to the pulleys 63,64. The spindle shaft 65.6 is attached to the pulley 63.64.
6 is assembled with a key so that relative rotation is impossible.

However, the keyway of the spindle shaft 65.66 is sufficiently long in the axial direction, and the keyway in the axial direction (
It is relatively movable in the vertical direction in FIG. 2 (hereinafter referred to as the /axis or Z direction). The spindle shaft 65, 66 is assembled to the shaft casing 67, 68 by a pair of bearings 69, 70 to 71, 72 so that it can rotate relative to it and cannot move relative to it in the axial direction. There are pins 73 on the outer wall of the shaft casing 67 and 68.
, 74 are fixed. The pins 73, 74 engage cam grooves that will be described next.

The router main body 60 houses a Z-axis motor 8o.

Also, a cam 75 is installed parallel to the shaft casing 67, 68.
．． 76 is rotatably assembled. Same cam 75.7
6 are each rotated by a Z-axis shaft 80 via a gear train.

The cams 75 and 76 are J, which are often shown in Figures 3 and 4, and are almost spiral cams on the outer periphery. g77.78 in the upper) direction, and the above-mentioned pin 73.7 is placed in this cam groove 77.78.
4 is engaged. The cam grooves 77 and 78 are formed in opposite spiral directions, as clearly shown in FIGS. 3 and 4.

Due to the above structure, the cam 75.76 and the bin 73.74 are Z
It constitutes a conversion mechanism that converts the rotation of the shaft 80 into the stomach movement of the straight bit 82 and the dovetail bit 84 in mutually opposite directions. That is, when the Z-axis motor 80 rotates, the cams 75 and 76 rotate, and the pins 73 and 74 that are engaged with the cam grooves 77 and 78 move in opposite directions at the same speed and the same distance. When the bin 73 moves upward, the bin 74 moves downward. When the bin 73 moves upward, the shaft casing 67 rises, and the spindle shaft 65 also rises accordingly. At this time, the bin 74 descends, and the shaft casing 68 and spindle shaft 66 descend.

In this way, the straight bit 82 chucked to the lower end of the spindle shaft 65 and the dovetail bit 84 chucked to the lower end of the spindle shaft 66 are arranged such that when one goes up, the other goes down by the rotation of the Z-axis motor 80. and move in the Z-axis direction, and the motor 61
The structure is such that each is rotationally driven.

A Z-axis mitt switch 104 is fixed to the router main body 60, and can detect whether the spindle shaft 65 is at a predetermined height. In addition, an arm 105 is attached to the output shaft of the Z-axis motor 80.

A magnet is attached to the tip of this arm 105.

In addition, a Hall cable F106 is fixed to the router main body 60 side, and the output of the Hall element 106 allows it to be detected whether the output shaft of the Z-axis shaft 80 is at a predetermined rotational angle position. This will be explained in detail later.

Now, the manual router having the above-mentioned mechanical structure can be operated by numerical control. Next, a control device for this purpose will be explained.

[About the configuration of the control system arm] Figure 5 is a system block diagram showing the overall configuration of the control system, and the system uses central processing! Place A (CPU
), a microcomputer 9 having a read-only memory (ROM) and a memory that can be read out (RAM).
It is structured around 0. A keyboard 91 for input is connected to the microcomputer 90, and after necessary data processing is carried out based on input signals from the keyboard 91 according to a processing procedure that will be explained in detail later, the microcomputer 90 The data is output to the driver 95, and the driver 95 converts this signal into a motor driving force by amplification or the like and supplies it to the motor. With this configuration, the X-axis motor 58 and the Y-axis motor 50. A Z-axis motor 80 is controlled by a microcontroller 90. In addition to the above, a liquid crystal display 92, a buzzer 93, and a display lamp 94 are connected to the microcomputer 90 for displaying data. Watchdog tie again? 100 is connected, and this constantly checks for abnormal operation of the CPLJ. Furthermore, the micronviewer 90 has XYZ,
The limit switches 102, 103, 104 and the Hall element 106 are connected, and a detection circuit 97 for detecting the drive current of the motor 61 is connected.
The configuration is such that the on/off is controlled by a microcomputer 90.

FIG. 6 shows the keyboard 91, and the two shown in FIG.
Four types of keys are arranged in a 7-tricks pattern.

Note that the keyboard 91, liquid crystal display 92, and display lamp 93 are located on the top surface 10 of the X front frame 14 in FIG.
It is located at 1.

FIG. 7 illustrates the meaning of the data used in this control system, and the dimensions of the flat groove A are set in terms of depth, width, and straight depth, and the dimensions of slippage can be set as necessary. , 7 groove B has dimensions set by dovetail depth, dovetail width (in this embodiment, this is set as a value obtained by adding a dovetail width correction to the diameter of the dovetail groove bit 84), and dovetail depth.

FIG. 8 is a diagram showing by arrows the locus of movement of the straight bit 82 in two horizontal directions, which is controlled based on the above data. In this figure, the straight bit 82 is rotating in a clockwise direction.

In this embodiment, the straight bit 82 first moves along the outer periphery of the groove, and finally cuts the inner periphery to form a flat groove Δ.

FIG. 9 shows another movement pattern of the straight bit 82, showing an example in which a groove is formed by first cutting the inner circumference and then cutting the outer circumference. Each pattern has one length and one end, and a good flat groove A can be formed by making fine adjustments according to each pattern. This fine adjustment will be explained in detail later.

Figure 10 shows a dovetail bit 84 when forming dovetail B.
It is understood that the width of the dovetail groove B is formed by adding the diameter of the dovetail groove bit 84 and the dovetail width correction.

FIG. 11 shows the locus of movement of the dovetail bit 84 for chamfering the entrance side of the dovetail groove B.

In addition, in FIGS. 10 and 11, dovetail groove pit 1-84 is shown.
The movement order is indicated by the corresponding number with a circle. After the dovetail bit 84 descends to ■ at position O in the illustration,
It descends diagonally toward the position shown in FIG. 11. This actually means that every time the Z-axis motor 80 advances 2 pulses, the X-axis motor 5
8 by one pulse.

The dovetail bit 84 moves from the position ■ to the position ■, and then moves horizontally toward the position ■. The dovetail bit 84 then moves in the horizontal direction through the positions of ■■■. After the dovetail bit 84 moves to the position ■, it rises diagonally toward the position ■. This is carried out by appropriately operating the Z-axis motor 80 and the X-axis motor 58. The locus of movement of the dovetail bit 84 is carefully considered to prevent edge chipping and the like.

The positions shown in FIGS. 8 to 11 are determined based on the various data shown in FIG. 7. Regarding the movement trajectory of the bits shown in these figures, numbers other than the numbers with circles in the figures.

It will be explained in more detail later along with the reference numerals.

rf! II 11 Procedure] Now, in FIG. 12, the data shown in FIG. 7 is input, and based on this data, the straight bit 82 and dovetail vortex bit 84 are moved in the patterns shown in FIGS. 8 to 11. It does not show the processing procedure to be controlled.

When the power is turned on, the microcomputer 90 is initialized and the device is ready for operation. Step S10 is a step in which it is determined whether the power is turned on while the password key is being pressed, and in the case of regular operation, the process proceeds to step 812.

The operation of turning on the °R source while pressing the "Password" key is performed when the two-axis adjustment mode is required (step 311).
), this will be explained in detail at the end with reference to FIGS. 17 and 18.

In the case of a normal operating state, the process proceeds to step S12, and by determining whether the Y-axis stop switch 102 is on or off, it is detected whether the Y-direction moving body 42 is at the origin position or not. If the Y-direction movable body 42 is not at the origin position, careless operation of the router may damage the workpiece W unexpectedly, so operation is only possible in manual mode, which will be explained later, and automatic operation mode is enabled. It does not proceed. When it is confirmed in step 812 that the Y-direction moving body 42 is at the origin position, the process starts processing for automatic operation, and first in step S13, the router is moved to a predetermined position in all directions of X, Y, and Z@. Return to the origin position. This procedure is explained in detail in FIGS. 13 to 15.

FIG. 13 shows the router main body 60 in the
The procedure for moving the robot in the direction and returning to the origin position is shown below. First, in step 830, the X-axis mitt switch 103 is
is on or off, and if it is off, loop L3
1 is repeated until the X-axis limit switch 103 is turned on. This loop ends immediately after the X-axis limit switch 103 is turned on, and in this way, in step 332, the router main body 60 is returned to the X-direction origin position with respect to the Y-direction moving body 42. If the X-axis mitt switch 103 is already on in the start-up 830, loop L33 is repeated until the X-axis mitt switch 103 is turned off, and then loop L31 is repeated to return to the origin.

FIG. 14 shows the processing procedure for returning the Y-direction moving body 42 to the point b; do. In this state, it is determined in step S41 whether the Y-axis mitt switch 102 is on or off, and if it is on, an error is displayed in step 842. This occurs when there is some sort of malfunction in the binding and requires necessary repairs. If it is determined in step S41 that the limit switch is off, loop L42 is repeated until the limit switch is turned on. As a result, in step 843, the Y-direction moving body 42 returns to its original position.

The origin return process in the Z-axis direction is performed based on FIG. 15. This process is different from the origin return process in the X direction shown in FIG. 13 only in step 845. This is an improvement used to improve the accuracy of the origin return position in the Z-axis direction compared to the X and Y75 directions, and the content of this process can be better understood with reference to FIG. 16.

In FIG. 16, the horizontal axis indicates the rotation speed of the Z-axis motor 80. The Z-axis mitt switch 104 is connected to the Z-axis motor 80.
The on/off state is switched at a predetermined value for the rotational speed of
If the origin position is determined only by the output of the axis limit switch 104, it is inevitable that the origin position will deviate within the range P shown in the figure.

On the other hand, the aforementioned Hall element 106 is connected to the Z-axis motor 8.
The arm 105 fixed to the output shaft of 0 is the Hall element 10
It becomes high only when facing 6, and its detection error is smaller than the detection error when using a limit switch. However, since the Hall element becomes high every time the Z#i motor 80 rotates once, it is not possible to detect whether or not the origin is present only by the output of the Hall cable J'106. In this example, the accuracy of the return-to-origin position in the Z-axis direction is improved by detecting that the Z-axis mitt switch 104 is on and the Hall element output is high. Now, when the origin return processing in the X, Y, and Z directions is executed in this way,
The process proceeds to step S15 in FIG. 12.

In step 815, "Auto/same dimensions?" is displayed. If you enter "Yes" here, step 82 (described later)
2. Here, we will first explain the case where automatic operation is not performed again with the same dimensions.

If the manual key is pressed while the process is repeating loop [14], the mode is switched to the manual mode shown in step S17. This manual mode is explained in detail in FIG.

When the machining condition key is pressed, the mode is switched to the machining condition setting mode shown in step 519. This additional condition setting mode is explained in detail in FIG.

[Auto/Same dimensions?] displayed in step S15. ”, if the No key is pressed, the mode is switched to the machining dimension setting mode in step S21 in which new machining dimensions can be input. Note that this machining dimension setting mode is explained in detail in FIG. 22.

[Explanation of manual mode] First, we will explain the case where the manual key is input. When manual key is pressed, step 8
17, and the manual mode shown in FIGS. 19 and 20 is executed. In step S50, the type of key pressed during manual mode is determined. Step 851 is a step for determining whether a condition for terminating the manual mode is satisfied, and this will be described later. In step 852, the device is operated according to the type of pressed key determined in step 350.

The correspondence between the type of key and the operation of this device is as shown in FIG. Note that when the fast forward keys - are pressed at the same time, the rotations of the X, Y, and Z axis motors are increased to speed up movement in the X, Y, and Z directions.

In this manual mode, groove machining can be executed while being controlled manually by operating the keys shown in FIG. 20 as appropriate. Step 851 determines whether the auto key has been pressed while the limit switch 102 is on, and if the condition is met, steps S53 and 5
As shown in 4.55, after performing the return-to-origin process in each of the X, Y, and Z directions, the manual mode is canceled and the process returns to the main routine.

[Description of Machining Condition Setting Mode] When the machining condition key is pressed while the loop 114 is being repeated in the main routine shown in FIG. 12, the mode is switched to the machining condition setting mode in step S19. The processing in this machining condition setting mode is explained in detail in FIG.

In step S60, "Straight diameter?" is displayed, so input the diameter of the straight bit to be used accordingly. Input is performed by entering 6 diameters using the number keys and then pressing the high key. Swim up 862
is a step for determining whether the input data is within a predetermined range, and if it is not within the range, the process waits for the diameter of the straight bit to be input again.

If the correct data is entered, then step 563rr
7.Display J with dovetail width correction or 1 without dovetail width correction.

Here, it is specified whether the shape to be machined is a shape where the dovetail width correction gap is not zero as shown in FIG. For example, despite the dot width correction -
7. If the message “With width correction” is displayed, proceed to step 8.
Press the No key as shown at 64. The display then switches to [Without width correction J. In this way, operate the OK key as necessary to correctly display whether "Dovetail width correction" is "Yes" or "Not" according to the shape you are going to process, and then make the correction as shown in step S65. By pressing the high key, the presence or absence of dovetail width correction is set.

Steps 866 to S68 are for setting the depth reference to either the Omm position or the 15aw position. Note that the depth reference is a reference used in a matching mode to be described next. Steps 869 to 871 are steps for specifying whether or not the flat groove to be machined has slippage as shown in FIG. Then, by pressing the Yes key, "Yes" is set to "Yes".

Slaps 872 to 74 are steps for specifying whether data is handled in units of millimeters or in units of mowing in the machining dimension setting mode to be described next.

As before, use the Yes key to select millimeters or dimensions, and then press the Yes key to select the unit.

With the above steps, the machining condition setting mode ends, and the process returns to loop L14 of the main routine shown in FIG.

[Explanation of machining dimension setting mode 1 Next, in loop L14 of FIG. 12, the processing procedure when the No key is pressed and the mode is switched to the machining dimension setting mode shown in step 821 of FIG. 12 is shown in FIG. 22. Explain with reference to.

This mode is a seventh mode in which the dimensions of the flat groove A and dovetail 8 to be machined are input. This is executed in accordance with the conditions set in the previously executed machining condition key mode, and if the unit is set to ``1 mm'', the input number is
If 111 is set, it will be interpreted as data in units of 1 mm.This flowchart is partially simplified for ease of understanding, and steps 881, Route L8 from 882, 883
The loop of returning to step 881 through step 4 is repeated seven times to complete the machining usage setting mode.

In step 881, the type of data to be input is displayed,
In the first loop, "What is the width?" is displayed. In response to this display, the width data of the flat groove A to be machined is pressed and then the high key is pressed to input the width data. Step S
At step 83, it is determined whether the data input as the width is within the normal range, and if it is abnormal, the width data is determined again via route [83]. If normal data has been input, the process returns to step S81 via route L84. At this time, different displays are displayed depending on whether ``slip 1'' is set to ``with'' or ``without F'' in the machining condition setting mode.

If it is currently set to [Yes], the loop will be executed for the second time and the message "Is it slipping?" will be displayed. In response to this, in step S82, the value of the slippage of the flat groove Δ to be machined is input. It is determined in step 383 whether the input data is within the normal range, as in the case of the first loop, and the same applies to subsequent loops as well.

Now, in the machining condition setting mode, "Slip 1" is set to "None 1".
When G is set, execution of the second loop is omitted and the third loop is executed immediately from the first loop. From then on, use exactly the same procedure to adjust the depth,
“Dovetail depth”, [Dovetail width correction 1 “Straight depth 1”
"Dot depth" is entered in an interactive manner. Note that the fifth loop, the input loop for dovetail width correction, is omitted if the processing condition setting mode is set to not perform dovetail width correction.

With the above, the machining dimension manual mode is completed, and the process returns to the loop 114 of the main routine shown in FIG.

Now, the data setting and processing condition setting are completed. Next, the procedure for automatically operating the device based on the data set in this manner will be described below.

This procedure ``in loop ``14'' in FIG.
; Executed by inputting ~. This is Sueup 815 [Auto: Same dimensions? " is displayed, and the operation is to input "Yes". When this operation is performed, the apparatus shifts to processing for automatic operation as described below, and is controlled in accordance with the data set in the machining condition setting mode or machining dimension setting mode described above. In addition, in loop 14, the processing judicial setting mode etc. is not executed, and when the [High J key is input, from then on +'+ff k: The set data is assumed to be valid as is and automatic driving is started. Used for control. .

Note that in the case of this embodiment, a card reader can be added as an option. In this case, by inputting the machining condition data and machining dimension data in advance and reading the card using a card reader, it is possible to replace the input operation in the data setting mode. If the dimensional conditions to be processed are limited to several types, it is sufficient to prepare a card for each type, and the manual procedure is simple and does not cause input errors.

Now, when it is determined in step S14 of FIG. 12 that the high key has been input, the 1 ink matching mode is completed in step 322. " is displayed. If the process is completed here, the process proceeds to step 825 by pressing the ``yes'' key. If the verification mode is not completed, use the OK key to execute the verification mode.

``Explanation of the matching mode 1 The matching mode is a procedure to form grooves at predetermined positions on the workpiece during automatic machining.In this mode, the positions where the grooves are formed are Set.During automatic machining, groove machining is performed based on the position set in this mode.The processing procedure in this mode proceeds as shown in Figure 23.When the matching mode is executed, first "Horizontal: Set 1" is displayed. Then, press the "Horizontal →" key or the "Horizontal ←” key to turn the router main unit 60
Move in the X direction. By inputting the high key after completing the movement, the center position in the X direction for groove machining 1J is set.

Step 892 is a step in which it is determined whether the groove having the input dimensions centering on the set position can be machined or whether it cannot be machined due to interference with the base frame 10. If this is not possible, the workpiece W is shifted and a message indicating that the workpiece W should be chucked again is displayed, and then the process returns to step S90.

When machining is possible, the message "1 depth: set" is covered in step 894. Therefore, move the router main body 60 in the Y direction using the "Okuyuki ↑" 1- or [Okuyuki ↓1 key, and if the depth ml is set as [O] in the machining condition setting mode, the bit center of the router main body 60 will be Work W
If the depth reference is set to "15", move the bit center of the router body 60 until it reaches the end surface of the workpiece W by 15#1. After setting it correctly, I decided to press the high key.
The depth reference is set correctly, and subsequent automatic machining is performed using the thus set position as a reference. Note that step 396 is for determining whether machining is possible at the reference position, and this is exactly the same as when performing blackout in the X direction.

Now, once the depth reference has been set, the device proceeds to step 89.
As shown in 7, the Y-direction moving body 42 is moved toward the front side in the Y-direction until each bit is positioned at a position where it substantially touches the end surface of the workpiece W.

Here, "straight ↑" as shown in Sufutsubu S99
Or use "Straight ↓" to straight bit 82
Move the straight bit 82 up and down so that the lower end surface of the straight bit 82 is the workpiece W.
Align it to match the top surface. By inputting the "Yes" key when a match is found, the height reference for machining the groove is set.

This completes the checking mode, and the process proceeds to step 825 of the main routine shown in FIG.

In step 325, [Start My Ye?] Display 1. If automatic operation is not desired due to some inconvenience, the process proceeds to step 815 by manually pressing the Yes key.
Return to This makes it possible to reset machining conditions, modify machining dimensions, and redo the matching operation.

[About automatic operation] Now, when all the criteria are completed, by pressing the start key, the process proceeds to step 828, and the large dovetailing process is executed fully automatically. That is, (1) In the inking mode, the point corresponding to a in FIG. 8 is calculated based on the positions set as the reference positions in the X and Y directions, and the straight bit is moved to that position. In addition, here, the meaning of the Y direction reference position set in the personal mode is determined depending on whether the depth reference is set to 0 or 15 in the machining condition setting mode, and the straight bit is used for the Y coordinate. Find a point a that does not overlap the end surface of the workpiece W. Further, the X coordinate position of point a is calculated from the width and straight diameter.

■ At point a, the straight bit descends to the reference position in the Z direction set in the inking mode and the height position determined based on the data input as the straight depth, and the motor 61 starts rotating. The straight bit also starts rotating.

(2) From now on, the straight bit is moved along the path shown in FIG. 8 based on the method specified as flat groove A, the diameter of the straight bit, and the reference position in the X and Y directions set in the inking mode.

■ This completes the flat groove A.

In addition, in FIG. 8, the square number next to the trajectory of the straight bit 82 indicates the moving speed number of the cutting edge of the straight bit 82, and its absolute speed is shown in FIG.
This is shown in Figure 7. As can be clearly understood from FIG. 8, the speed of forming and covering the outer periphery of the flat groove is set slower than that of the inner periphery. This is to enable smooth discharge of chips. Further, between c and d shown in the figure, it is controlled to move at a very low speed. This is to prevent the edge from chipping when forming the flat groove A.

It is possible to form the flat groove Δ by moving the straight bit 82 as shown in FIG. 9, and in this case, the speed shown in the figure is preferable. In this example, the straight bit 82 is lowered at point e (at this point, the straight bit 82 slightly touches the end surface of the workpiece W). In this way, edge chipping can be prevented from occurring. When moved as shown in FIG. 9, chips are generally removed smoothly and the flat grooves are finished well.

Note that the speed mentioned above is a standard one, and a program is prepared that automatically slows down the speed when, for example, there is a knot in one node W.

This will be explained later.

Now, after the flat fmA is formed in this way, the / axis motor 80 works to raise the straight bit 82 and lower the dovetail bit 84). At the same time, the X, Y, and Z axes are moved so that the dovetail bit 84 moves along the shuttle path shown in FIGS. 10 and 11. When the series of processes is completed, a chamfered dovetail groove B is formed, and the large insertion dovetail process is completed fully automatically.

When all machining is completed, the bit or router main body 60 is returned to the original position in step 329 of the main routine in FIG. 12, and the process returns to step S15. When reproducing the addition 1 of the same size, by inputting the yes key, the process proceeds to step S22, and after determining the reference position for machining in the matching mode, the same fully automatic machining is executed again. . When modifying dimensions, etc., it is sufficient to switch to processing dimension setting mode, etc., modify the necessary data, and then proceed to verification mode.

[About automatic control of cutting edge movement speed 1 Figures 24 and 25 show a system and processing method for reducing the cutting edge movement speed from the standard speed shown in Figures 8 to 11 as necessary. It is something that This is a mechanism for when the work W has knots, for example, and it is necessary to slow down the machining speed, and it can also deal with wear of the cutting edge.

This system detects when an overcurrent flows in the bit drive motor 61 and performs necessary processing.
As shown in the figure, a voltage proportional to the driving current of the motor 61 is taken out by the current sensor C3 (current 1 to lance in the figure) to the overcurrent detection circuit 97 described in connection with FIG. The signal is converted into a direct current, smoothed by a resistor R, a capacitor C, etc., and then input to a comparator. , here, the variable resistor VR is adjusted in advance so as to have a constant voltage division ratio. The comparator compares it with the reference voltage E1 to detect whether an overcurrent is flowing through the Tanabata 61, and sends the result to the microcomputer 90.

The microcomputer 90 adjusts the moving speed of the cutting edge according to the procedure shown in FIG. In other words, the micro-viewer 9
0 has an overcurrent counter, and when automatic machining operation is started, the counter is completely cleared in step 5100. During automatic machining operation, the output of the comparator is input at regular intervals, and if there is no overcurrent, 1 is decremented from the counter in step 5104, and as shown in step 5105, the standard Drive current is output to each X, Y, and Z axis motor so that the cutting edge movement speed can be obtained. In this example, X, Y.

The Z@7 motors each have a step motor, and the microcomputer 90 sends out pulses at J, U time intervals and each Tanabata to obtain a standard movement speed.

If it is determined in step 8102 that an overcurrent is flowing through the motor 61, 1 is added to the counter in step 5103, and the feed speed is slowed down in stop 8108. This is done by lengthening the time interval between output pulses. However, if the feed speed has already fallen to the lowest speed in the speed tables shown in FIGS. 26 to 28, the speed will not be reduced any further.

When it is determined in step 8101 that automatic machining has been completed, as shown in step 8109, it is determined whether the overcurrent counter is greater than or equal to a predetermined value, and if it is greater than or equal to the predetermined value, the cutter is worn out. Since this often occurs, a message indicating that the blade needs to be replaced is displayed on the LCD display. After this,
After returning to the origin in the Y and Z axis directions, the process returns to step S15 in FIG.

Now, with this, machining is carried out at a predetermined preferred standard speed, and if the cutting speed needs to be reduced for some reason, processing is executed to reduce the cutting speed as much as necessary, making it possible to deal with any situation. is taken into consideration.

[About Z@Adjustment Mode] Now, the explanation of the operation of this embodiment has been almost completed above, but finally, the device built into the present device regarding adjustment in the Z-axis direction will be explained.

As mentioned above, in the device of this embodiment, one Z-axis
0, the straight bit 82 and dovetail bit 84 are moved up and down like a seesaw, and in order to return to the original position, not only the two-axis limit switch 104 but also the Hall cable 106 is moved
By using this, the accuracy of the origin position is increased. This means that the reproducibility of the origin position is high, but
This does not necessarily mean that the heights of the straight bit 82 and the dovetail bit 84 are equal at the origin position. 1st
In FIG. 8, the horizontal axis represents the rotational speed of the Z-axis motor 80, and the vertical axis represents the height of the pit. Since the leads of the cam grooves 77 and 78 of the cams 75 and 76 shown in FIGS. 3 and 4 are set equal, the height change of the straight bit 82 and the height change of the dovetail bit 84 are opposite to each other. Ride on a straight line with the same slope in the direction. When returning to the origin, if the straight bit 82 and the dovetail bit 84 are at the same height, that is, if the origin return position is always at point O in the figure, no special consideration is required, but in reality When assembling, use the straight bit 8 at the home return position due to errors, etc.
2 and the dovetail bit 84 may be different in height.

In this case, when determining the processing reference height in inking mode,
Since the machining reference plane is set using the straight bit 82, the straight depth is machined at the depth according to the input data. The difference in height causes it to shift.

In the case of this device, the following processing method was adopted to avoid this.

If the straight bit 82 is now in the N position and the dovetail bit 84 is in the M position when the straight bit 82 is returned to the origin as shown in FIG. The height of the straight bit 82 when it is set is [: mm].

The height of the 7-groove bit 84 when the D-pulse Z-axis motor 80 is rotated in the opposite direction to lower the dovetail bit 84 is F#1I11. Here, the straight bit 82 and dovetail bit 84 are vertically vJ for one pulse? Assuming that the change in height is am, it can be seen that in order to match the heights of both bits, it is necessary to move a distance from the origin position. After calculating the value of If it descends, the dot MB of the specified depth will actually be machined.

Figure 17 shows an O-chart for this adjustment work.

In this l@adjustment mode, press the predetermined password key when turning on the power, as shown in the flowchart in Figure 12.
’ and is not normally performed. Since it is only necessary to make adjustments once for each device, this is normally done at the time of shipment from the factory.

The value of X determined as described above is stored in the microcomputer 90 and is referred to in order to calculate the number of pulses to be output to the Z-axis 80.

(Effects) With the manual router of the present invention, flat grooves and dovetail grooves with desired dimensions and shapes can be processed by inputting the necessary data for flat grooves and dovetail grooves into the computer. Accurate groove machining can be performed without relying on experience in work planning, and there is no need for inking (you only need to draw the center line of the groove and the depth reference line if necessary, making it easy to draw the groove outline). (There is no need to ink) This has the advantage of simplifying the work.

[BRIEF DESCRIPTION OF THE DRAWINGS] The drawings show one embodiment of the present invention, in which FIG. 1 is a partially sectional plan view of a large-capacity router, and FIG. 2 is a cross-sectional view approximately at the center of FIG. 1. 3 and 4 are front views of the main parts of the cam for the straight bit and dovetail bit shown in FIGS. 1 and 2, respectively, and FIG. 5 is a view from the right side. is a block diagram of the control system of the large-capacity router shown in Figures 1 and 2, Figure 6 is a layout diagram of the keyboard shown in Figure 5, and Figure 7 is a block diagram of the control system used in the control system shown in Figure 5. Perspective view of the workpiece illustrating each machining data, No. 8
The figure is a plan view of a part of the workpiece showing the movement locus of the straight bit in two horizontal directions based on the data manually input to the control system shown in Fig. 5, and Fig. 9 is a plan view of a part of the workpiece showing the other movement locus. A similar plan view, FIG. 10, is a plan view of the - section of the workpiece similar to FIG.
Figure 1 shows a dovetail +1'/4 to chamfer and cover the entrance side of the dovetail groove.
Front view of a part of the workpiece showing the movement trajectory of the bit, No. 12
The figure is a control flowchart for controlling the movement of the straight bit and dovetail bit along the trajectories shown in Figs. 8 to 11 based on the human power of the data shown in Fig. 7.
14 and 14 are detailed flowcharts for returning the router main body to the origin in the X-axis and Y-axis directions, respectively, in the flowchart shown in FIG. 12, and FIG. 15 is a detailed flowchart for returning the router body to the origin in the A detailed flowchart for returning the groove bit to the origin in the Z-axis direction, Fig. 16 is a supplementary explanatory diagram of the flowchart shown in Fig. 15, and Fig. 17 is a detailed flowchart of 7@adjustment mode in the flowchart shown in Fig. 12. , Fig. 18 is a supplementary explanatory diagram of the flowchart shown in Fig. 17.
Figure 9 shows a detailed flowchart of the manual mode in the flowchart shown in Figure 12, Figure 20 is an explanatory diagram of the operation keys used in the steps in Figure 19, and Figure 27
The figure shows a detailed flowchart of the processing condition setting mode in the flowchart shown in Fig. 12, and Fig. 22 shows a detailed flowchart of the processing dimension setting mode in the flowchart shown in Fig. 12, and data to be input at each loop in the flowchart. Figure 23 is a detailed flowchart of the flowchart shown in Figure 12, and Figure 24 is a system for automatically controlling the moving speed of the cutting edge of straight bits and dovetail bits. Figure 25 is a flowchart of control for automatic processing using the system shown in Figure 24, Figures 26 to 28 are Figures 8 to 1.
1 The X-axis and Y-axis of the moving speed of each bit shown in the figure
FIG. 29, which is an explanatory diagram of speed numbers in the @ and /axial directions, is a perspective view of a conventional large-capacity router shown for understanding the overall configuration of this embodiment. 50... Y-axis motor 58... Fig. 3 Fig. 4 Applicant: Makita Electric Co., Ltd. Representative Patent Attorney Oka 1) Hidehiko (3 others) Fig. 6, -1+N Clearance Width Handle Positive 2-axis direction Harvest and return Kusu Sannoto Swipe hand reversal rate 1st time 19th 11th 12th 13th 40th 15th I6th 17th ω Width 1 eyelid is odor-prone The odor of the end is 9 The construction of the end width is ? Strike 15 Volume 15

Claims (1)

[Claims] An X that crosses the straight bit and dovetail bit at right angles to each other.
, a motor for moving the straight bit and the dovetail bit in the X, Y, and Z axis directions by numerical control. A large-capacity router characterized by: